Fluid driven gyroscope



Feb. 26, 1963 c. H. scHLEsMAN 3,078,728

FLUID DRIVEN GYROSCOPE Original Filed April l1, 1950 FILl 4 4 T" POWER47 53 3? 48 46 zsuPPLY 54 37 37 5l F. M.

7 28 TRANSMITTER L I', se 52 4| H155 42] 44 49 56 E 1% 2.

FIL5- l' s3 -IFZ se 12 J7. Sohle/.Shaw

3.078,72@ Patented Feb. 26, 1963 The present invention relates togun-launched rotating missiles and like ordnance devices and moreparticularly to a novel and unique gyroscope utilized in an apparatusemploying a gym-stabilized reference for telemetering from the missilein ilight instantaneous signals indicative of the declination angle androtational position in space of the missile.

This application is a division of my copending applica- I tion SerialNo. 155,316, filed April l1, 1950, and now Patent No. 2,852,208.

lt has been found difficult in prior art devices for use in shells ormissiles to transmit therefrom accurate signals indicative of theinstant declination angle and ro-tational position in space of themissile throughout the liight thereof. The present invention is wellsuited for such use and is of particular advantage for indicating theangle of declination and for controlling the time 0f tiring of thesteering charge of rotating missiles in relation to the rotationalposition thereof. Such a missile containing a steering charge forproviding a change in course of the missile upon firing of the charge isdisclosed and claimed in the copending application of Harold J. Plumleyfor Method and Apparatus for Steering a Gun-Launched Missile, tiledDecember 6, 1949, Serial No. 131,441.

The device of the preesent invention comprises a preferably gas or airdriven gyroscope having its principal rotating axis aligned with therotating axis of the missile at the time of launching. The gyro rotor,however, is especially constructed and arranged to provide for tiltingof the rotor with respect to the missile as the declination anglethereof varies during flight. In order to protect the gyroscope from thehigh acceleration forces to which it is subjected during the launchingof the missile, the gyroscope rotor is supported in such a manner thatdamage thereto by such forces is substantially nulliiied. To this end,the supporting means is arranged to release the gyroscope rotor when theacceleration forces are reduced to a point where the gyroscope may beoperated without damage thereto.

A pair of electrodes or capacitor plates are xedly arranged atdiametrically opposite points adjacent the periphery of the rotor of thegyroscope in such a manner that as the gyroscope tilts with respect tothe casing, the capacitance between the electrodes or plates and therotor varies proportionally to the degree of tilt of the rotor axis awayfrom the axis of rotation of the missile.

These variations in capacity are utilized in a bridge circuit to producesinusoidal amplitude alternations which preferably are transmitted byway of the telemetering link as frequency changes in the signalstransmitted from the missile and receivable by suitable apparatus at thelaunching point. The sinusoidal amplitude alternations are reproduced atthe launching point, by any suitable signal reproducing equipment suchas disclosed in my copending application Serial No. 155,316, andutilized to visually indicate declination angle and instantaneousrotational position of the missile.

An object of the present invention is to provide a novel gyroscope for atelemetering apparatus whereby information relative to the declinationangle and the instantaneous position in space of a missile or shell iniiight is effectively transmitted to the launching point thereof.

Another object is to provide a new and improved gyroscope for varyingthe capacity of a bridge circuit in accordance with the variations ofthe declination angle of a missile or shell whereby a transmitter isinfluenced thereby to effectively transmit a signal indicative of suchvariations to the launching point.

Still another object is to provide in a gun-launched missile a new andimproved gyroscope which is not susceptible to damage from highacceleration forces to which it is subjected during launching of themissile.

Other objects and many of the attendant advantages of this inventionwill be readily appreciated as the same becornes better understood byreference to the following detailed description when considered inconnection with the accompanying drawings wherein:

FIG. 1 is a view in side elevation of one of a variety of missiles inwhich the gyroscopic device of the present invention may be employed;

FIG. 2 is a sectional view taken along the axis of the device andshowing the gyroscope of the present invention;

FIG. 3 is a sectional View on line 3 3 of FIG. 2;

FIG. 4 is a schematic view of the means for driving the gyroscope; and

FIG. 5 is a diagrammatic view of the signal transmitting system employedin the missile.

Referring more particularly t-o the drawings wherein like charactersindicate like parts throughout the several views, 10 indicates generallya missile containing a differential gyroscope indicated generally at l1having the principal axis thereof coincidential to the longitudinal axisof the missile. A tubular casing 12 is closed at the ends thereof bymassive closures 13 and 14, each of the closures being secured to casing12 by a plurality of screws 15.

The closures 13 and 14 are respectively provided with an axial bore 16,the outer end of each of the bores being closed respectively by a springsupport 17 which is secured therein by a locking washer 18. Slidablymounted in each of the bores 16 is a bearing race 21 having a pluralityof balls 22 therein. Springs 19 are mounted between the races 21 and thespring supports 17.

A shaft 23 having the tapered ends 24 thereof rotatably mounted in theballs 22, has a pair of diametrically opposed radial bores 25 at a pointmidway the ends thereof. A ring 26 is suspended around the shaft 23 bymeans of a pair of screw pivot pins 27 threaded therein and extendinginto the bores 25. A pair of tapered bores 30, positioned at from pins27, are formed in the ring 26.

A rotor 2S is pivotally mounted on ring 26 by means of a pair of taperedpins 29 extending into the tapered bores 31? and supported in bores 31of the rotor 28. Pins 29 are held in hores 31 by means of screws 32threaded into the outer ends of the bores. From the foregoing it isapparent that the rotor 28 is mounted for rotation with the shaft 25 andhas a limited amount of angular motion with respect to the shaft aboutthe pivot axes formed respectively by pins 27 and 29.

The rotor 2S has a plurality of turbine buckets o-r depressions 33 inthe periphery thereof. A tube 34 is arranged within casing 12 to directa jet of high pressure gas such, for example, as carbon dioxide againstthe buckets 33 to drive the rotor 28 at high speed. Tube 34 is connectedto a gas container 35 through an inertia operated gas release mechanism36 which is arranged to puncture a diaphragm to release the gas into thetube 34 by reason of the setback force imparted to the inertia member bythe launching operation, thereby to drive the rotor, lt is, of course,understood that the rotor also may be driven by a jet of air picked upby a scoop on the outer periphery of the missile casing, or by anyWell-known means. l

3 Positioned within casing 12 and adjacent the periphery of rotor 28 arethe electrodes or plates 37 and 38 which, with the rotor, comprise a`pair of capacitors in a capaci ity bridge circuit indicated generallyat'39l in FIG. 5, f as'will be hereinafter more fully described.

FIG. S'illustratesl in diagrammatic form at` circuit of i`electronic.apparatus carried in the missile for use with the'gyrosco-pe of the present invention and in which the gyroscope rotor 2Sand'the electrodes or -plates 37 and 38 are-shown as elementsin thecapacity bridge circuit `39, the'rotor" being connected-toterminali-410i a fre- "'quencyemodulated t'ransmitterid?l While theelectrodes 37 and 38'are connectediat pointsli and 44,-respectively, by'individual leads to output terminals 45 and 46 of a power supply 47.'-Resistors-It''and v49 are respectively 'connected -at points V43 and 44at `one -side thereof A"while i the other'side` of the resistors 'areinterconnected as at 51. Point Slis connected to terminal 52 of the 1transmitter 42." 'Power supply47 andtransmitter 42 are interconnected byVlcads and 54. Transmitter-42 has connected thereto by coaxial cable 55a-dipoleantenna YIn order to preventY damageV to the gyroscope mechanismduring the gun launching operation of the missile, provision is'madeforsupporting' the rotor while the extreniely high accelerationforcesaccompanying such operation are present in the missile.Duringthe-launch- "ingoperatio'n the 'rotor co-mes to restfagainst aplurality of supporting pins 57 mounted in the rearmost one oftheclosures 13 and 14. The setback force actson the rotor,

shaftyandV bearings to compress one of the springs'l which in" turnbrings the rotor into contact with the pins 57. This supports the weightofthe rotorand' thereby avoids damage by'the rotor to the bearings,pivot pins,

ring, and` shaft. /rot-onpositionwith `respect to the missile'axis frombeing disturbed by the initial violent Yerratic motion 4of the Thisarrangement, also, prevents the missile duringthe launching thereof. YAsis apparentlin FIG.` 2 of-the drawings, the endwise movement of therotor 'assembly is limited by the pins l 57 `mounted in bothiof thejclosures 13fand 14. When the acceleration forces have dissipated, therotor assemf bly returns toits normal position.

During acceleration the inertia operated diaphragm puncturing means 36initiates the flow ofl gas from conrainer 3S through tube 34 to theturbine buckets `33 in the peripheryof rotor 28 When the rotor, asaforesaid, moves 'back to its normal position the rotor is driven by vthe -gas athigh speed, thus acting as a gyroscope. 11n

order to allow for-the escape of the gas from casing l2 f one or'moreports 58 may be provided in the casing.

In operation; declination of the missile from the original launchingangle ch-anges the relative positions of the rotor 2S and the electrodes37, the rotor axis being 'aligned with thernissle axis at the time therotor is set in operation, thereby to vary` the capacitance between Vtheelectrodes and rotor to unbalance the bridge circuit in proportion tothe change in the declination angle.

The n structure of the missile is such as to cause the missile to rotateat a speed of approximately 600 r.p.m., for example. Thus, as thedeclination angle of the missilechanges in response to the force ofgravity thereon, 'the bridge circuit, which is initially balanced,develops in the output thereof an alternating signal voltage as thecapacitive coupling of the electrodes with rei spect to the rotoralternately increases and decreases duri the steering jet will be on thestarboard side of the missile when the signal reaches the peak of thepositive half cycle.

The alternating signal is transmitted to the launching point by way ofthe telemetering link comprising the RM. transmitter'42, coaxial line55,` and dipole antenna m56. The carrierlof this telemetering' link isutilized to transmit the bridge signal, the carrier for this purposebeing either amplitude modulated-or frequency modulated, preferably-"thelatter, bysuita'ble well known apparatus `included in the transmit-ter.

While `the device' of the present invention has been described'andillustrated as being employed n a gun-tired rotatingfmissile or shell,it is contemplated that the device may have other applications such, forexample, as

in any moving body Where it is desirable to be informed fat a remoteposition of the rotational position and dcf viations in the angle of thebody `during the travel thereiof.

Obviously many modifications and variations` ofthe l. `present inventionare `possiblein the light of the above teachings.` It is therefore to beunderstood that within the scope of the appended claims-theinvention maybe practiced otherwise than as specifically described.

`The invention described herein may be manufactured and used by or forthe Government of the United States `of America `for governmentalpurposes without' the payv ment of any royalties thereon or therefor.

What is claimedand desired to be securedrby Letters Patent of the UnitedStates is:

1. In a fluid driven 'gyroscopicapparatus for 'use in a l gun-launchedmissile, in combination, a gun-launched missile, a tubular casing, apair of massive closureshaving yaxial bores individual thereto andsecured to the erids of said casing, each of said bores having'anenlarged `outer end portion and a reduced inner end portion, a p'air ofspring seats fixedly mounted in -the enlarged end port-ion of said boresrespectively, coiled ysprings `respectively arranged in saidlboresagainst said seats, bearing ,mem-

"bers respectively-engaging said springs and` slideablefwithinsaidnbores, an undivided shaft pivotally mounted for rotating insaid bearing members and movable axially wtherewithfrsaid shaft being ofsuicient length to normally compress said springs to-approximately halfof the maximum compression thereof, `said vbearing membersrbe- -ingurged against the ends of said shaft by said springs i whereby the4bearings will follow the shaft during Yaxial Vmovement thereof; anannular rotor, a `gimbal` for pivotally mounting the rotor on said shaftintermediate said bearing'members, andstop meanson each of said massiveVclosures for engaging and arresting axial movementof said rotor in aposition normal to the axis of said `shaft when-the shaft has been moved`axially by set-back force from an' initial position ofresttoamovedposition during i' the gun'launching of said missile.

2. `Ina uidi driven. gyroscopic device for use in a `gunlaunched missilecomprising, atubular casing, a pair of frnassive closures having axialbores'individual theretoand secured to the ends of said fcasingyeach ofsaidfbores having an enlarged outer end portion and `a reduced inner'end portion, a pair ofspring seats -xedly mounted in theenlargedendportion of said 'bores respectively, springs respectively'arranged insaid bores ragainst said seats, bearing members `respectively `engagingsaid` springs and frslideable within said bores, an undivided shaftpivotally mounted forrotary movement in said bearing membersandslideable axially therewith, said shaft being of suicient' lengthtolnormally' compress said `springs to approximately half of the maximumcompression thereof, said bearing members being urged against the endsof Y saidshaft by 'said springs-whereby' the bearings will follow saidshaft during' axial movement thereof, an annular rotor encircling saidshaft, a gimbal for pivotallysupporting` therotor on s'aidVshaftintermediate said bearing members, a plurality of fstop pins arrangedon-ther-inner face of at least one of said closures lfor engag-ing andarresting axial movement of the rotor as the set-back :force is appliedthereto during the gun-launching of said missile thereby to preventdamage to said gimbal by said force.

3. A uid driven gyroscope for use in a gun-launched missile comprising,an annular body having an axial bore therethrough and a pair of radialdiametrically opposed bores communicating with said axial bore, a firstpair of supporting pins mounted in said radial bores and extending intosaid axial bore, a gimbal ring disposed within said axial bore andsupported by said first pins, said gimbal ring having a central bore, asecond pair of diametrically opposed pins spaced 90 lfrom said firstpins and mounted in said gimbal ring, said last named pins extendinginto said central bore of the gimbal ring, an undivided shaft pivotallymounted for rotation and axial movement from an initial position ofrest, said shaft extending through the central bore of said gimbal ring-and having a pair of diametrically opposed radi-al bores therein, saidsecond pair of pins extending respectively into the bores in said shaft,means on the periphery of said body and responsive to iluid pressureimpinging thereon Ifor rotating said body, means including a pair ofcoiled springs disposed at opposite ends of the shaft for yield-ablymaintaining said annular body and shaft in said initial position untilmoved axially therefrom to a moved position by set-back force during thegun launching of the missile, yand a plurality of stop pins engageableby said body for arresting further axial movement thereof when the bodyand shaft have been moved to said moved position.

4. In a Huid driven gyproscopic apparaus for use in a gun-launchedmissile, a casing having a longitudinal axis, a pair of bearing membersresiliently mounted in said casing for movement in either directionalong said axis, a shaft pivotally mounted for rotation in said bearingmem- Ibers and axially movable therewith, a gimbal secured to said shaftintermediate said bearing members, a Irotor mounted by said gimbal for-rotation with said shaft and movable axially therewith means on theperiphery of said rotor for rotating said rotor at high speed inresponse to fluid pressure applied thereto, and a plurality of stop pinsprojecting interiorly of the ends of said casing and normally in spacedadjacency to each side fare of said rotor whereby axial movement therotor is arrested by forcible engagement with said pins when a suddenforce is encountered along the axis of said casing of suflicient forceto move the rotor along said axis into contact therewith.

5. A fluid driven gyroscope -for use within a gunlaunched missilecomprising, a tubular casing having a pair of massive closures securedto the ends thereof, each of said closures having an axial bore therein,a pair of spring pressed seats mounted within said bores, a pair ofbearing mem-bers respectively disposed within said bores and slideableaxially therealong, a shaft pivotally mounted in said bearing membersand movable axially therewith, a pair of coil springs for yieldablyurging the bearing members into contact with the end portions of saidshaft whereby the bearings follow the shaft during axial movementthereof from an initial position of rest, an annular mass disposed aboutsaid shaft, said mass comprising two parallel plane surfaces and asegmented peripheral portion disposed therebetween, a gimbal disposedwithin said annular member for supporting the member on said shaftwhereby the member is tiltable in any direction with respect thereto, aplurality of turbine buckets formed along the outer peripheral portieriof said rotor, means for emitting a fluid under high pressure againstsaid bucket thereby to drive the rotor at high speed and means on saidmassive closures engageable by said mass for arresting axial movement ofthe mass in a position normal to said shaft when the mass has been moveda predetermined distance axially from said position of rest by set-backforce during gun-launching of the missile.

6. A gyroscope according to claim 5 including a curved capacitor elementdisposed Within said casing in closely spaced adjacent relation withsaid buckets and providing with means Ifor establishing an exteranlelectrical connection thereto whereby a high speed variation in capacitylbetween said motor and capacitive element is obtained as the rotorrotates, and the axis of rotation of the shaft is varied from the axisof rotation of the rotor.

7. A gyroscope according to claim 5 including a pair of capacitativeelements disposed in diametrical relation with said rotor and closelyspaced to said buckets in `such manner that variations in capacitybetween one of said elements and the rotor bears an inverse ratio tovariations in capacity between the other of said elements and said rotoras the rotor is tilted from a plane normal with respect to `said shaft,and means for establishing an external electrical connection to each ofsaid elements.

References Cited in the file of this patent UNITED STATES PATENTS995,819 Walker June 20, 1911 1,569,545 Junghans Ian. 12, 1926 1,850,068Ballman Mar. 22, 1932 2,047,186 Bates June 14, 1936 2,269,103 Harding etal. Jan. 6, 1942 2,328,670 Parker Sept. 7, 1943 2,352,469 Carlson June27, 1944 2,584,125 Haglund Feb. 5, 1952 2,591,921 Cosgriif et al. Apr.8, 1952 2,620,668 Lundberg Dec. 9, 1952

1. IN A FLUID DRIVEN GYROSCOPIC APPARATUS FOR USE IN A GUN-LAUNCHEDMISSILE, IN COMBINATION, A GUN-LAUNCHED MISSILE, A TUBULAR CASING, APAIR OF MASSIVE CLOSURES HAVING AXIAL BORES INDIVIDUAL THERETO ANDSECURED TO THE ENDS OF SAID CASING, EACH OF SAID BORES HAVING ANENLARGED OUTER END PORTION AND A REDUCED INNER END PORTION, A PAIR OFSPRING SEATS FIXEDLY MOUNTED IN THE ENLARGED END PORTION OF SAID BORESRESPECTIVELY, COILED SPRINGS RESPECTIVELY ARRANGED IN SAID BORES AGAINSTSAID SEATS, BEARING MEMBERS RESPECTIVELY ENGAGING SAID SPRINGS ANDSLIDEABLE WITHIN SAID BORES, AN UNDIVIDED SHAFT PIVOTALLY MOUNTED FORROTATING IN SAID BEARING MEMBERS AND MOVABLE AXIALLY THEREWITH, SAIDSHAFT BEING OF SUFFICIENT LENGTH TO NORMALLY COMPRESS SAID SPRINGS TOAPPROXIMATELY HALF OF THE MAXIMUM COMPRESSION THEREOF, SAID BEARINGMEMBERS BEING URGED AGAINST THE ENDS OF SAID SHAFT BY SAID SPRINGSWHEREBY THE BEARINGS WILL FOLLOW THE SHAFT DURING AXIAL MOVEMENTTHEREOF, AN ANNULAR ROTOR, A GIMBAL FOR PIVOTALLY MOUNTING THE ROTOR ONSAID SHAFT INTERMEDIATE SAID BEARING MEMBERS, AND STOP MEANS ON EACH OFSAID MASSIVE CLOSURES FOR ENGAGING AND ARRESTING AXIAL MOVEMENT OF SAIDROTOR IN A POSITION NORMAL TO THE AXIS OF SAID SHAFT WHEN THE SHAFT HASBEEN MOVED AXIALLY BY SET-BACK FORCE FROM AN INITIAL POSITION OF REST TOA MOVED POSITION DURING THE GUN LAUNCHING OF SAID MISSILE.